<p>Aerial manipulators (AMs) are expected to perform aerial interaction tasks such as inspection and maintenance, but achieving stable and precise force interaction remains challenging due to model uncertainties, external disturbances, and the limitations of force acquisition methods. To address these difficulties, this article proposes an intelligent interaction control framework to improve the compliant performance for AMs. First, to achieve precise force tracking control, a visual servoing impedance controller based on the aerial force analysis is designed without position measurements of system and contact surface. Additionally, this approach alleviates the burden of additional sensors, thereby lowering cost and payload, and simultaneously circumvents the input coupling and parameter sensitivity problems that usually arise with observer-based methods. Second, considering the complexity of AM’s attitude dynamics modeling, a decoupled data-driven controller based on the continuous characteristic model (CCM) is proposed to ensure stable physical contact. Unlike the discrete-time characteristic model (DCM), CCM eliminates delayed responses induced by the inherent recursive structure. Theoretical analysis via the Lyapunov criterion ensures asymptotic stability, and real-world experiments verify that the proposed approach achieves high-precision force tracking and robust performance in aerial contact operations.</p>